PIC
Welcome to the website of the Collective Dynamics and Control Laboratory
at the University of Maryland

PIC PIC

Contact Info

Dr. Derek A. Paley
Director, Collective Dynamics and Control Laboratory
Willis H. Young Jr. Associate Professor of Aerospace Engineering Education
Department of Aerospace Engineering and Institute for Systems Research, University of Maryland
Office: 3150 Martin Hall, 4298 Campus Dr., College Park, MD 20742
(301) 405-5757 | (301) 314-0213 (fax)
Lab: 3247 Kim Engineering Building, 8228 Paint Branch Dr.
dpaley@umd.edu | http://cdcl.umd.edu

Director Bio

Derek A. Paley is the Willis H. Young Jr. Associate Professor of Aerospace Engineering Education in the Department of Aerospace Engineering and the Institute for Systems Research at the University of Maryland. He is the founding director of the Collective Dynamics and Control Laboratory, an affiliate associate professor in the Department of Electrical and Computer Engineering, and a member of the Alfred Gessow Rotorcraft Center, the Maryland Robotics Center, the Program in Neuroscience and Cognitive Science, the Burgers Program for Fluid Dynamics, the Applied Mathematics & Statistics, and Scientific Computation Program, and the Brain and Behavior Initiative. Paley received the B.S. degree in Applied Physics from Yale University in 1997 and the Ph.D. degree in Mechanical and Aerospace Engineering from Princeton University in 2007(dissertation). He received the National Science Foundation CAREER award in 2010, the Presidential Early Career Award for Scientists and Engineers in 2012, the University of Maryland E. Robert Kent Teaching Award for Junior Faculty in 2014, and the AIAA National Capital Section Engineer of the Year in 2015. Paley has authored more than 100 peer-reviewed publications including one textbook: Engineering Dynamics: A Comprehensive Introduction (Princeton University Press, 2011). He teaches introductory dynamics, advanced dynamics, aircraft flight dynamics and control, and nonlinear control. Paley’s research interests are in the area of dynamics and control, including cooperative control of autonomous vehicles, adaptive sampling with mobile networks, and spatial modeling of biological groups. He has graduated four M.S. students and six Ph.D. students (two more Ph.D. students expected to graduate in May 2017). His research is based on support by the Air Force Office of Scientific Research, the Army Research Office, the National Science Foundation, and the Office of Naval Research. Paley is an Associate Fellow of AIAA and a Senior Member of IEEE. He is also Associate Editor of the AIAA Journal of Guidance, Control, and Dynamics, Associate Editor of the IEEE Transactions on Control of Network Systems, and a member of the IEEE Control Systems Society Aerospace Controls Technical Committee. Curriculum vitae; Google scholar profile; ResearcherID

Social Media

See CDCL news, photos, and videos on the CDCL Twitter feed, CDCL Facebook page, and the CDCL YouTube channel

Research

Topics

Videos

(To see a list of all of the videos, click the playlist button at the top left of the video player below.)

Current Projects

Facilities

Publications

Books

1.   N. J. Kasdin and D. A. Paley. Engineering dynamics: A comprehensive introduction. Princeton University Press, 2011. [Review] [Errata].

Book Chapters

3.   D. A. Paley, L. DeVries, and N. Sydney. Data-driven routing of autonomous vehicles for distributed estimation of spatiotemporal fields. Submitted.

2.   F. D. Lagor and D. A. Paley. Active singularities for motion planning in an N-vortex system. In S. Ravela and A. Sandu, editors, Proc. First Int. Conf. Dynamic Data-driven Environmental Systems Science 2014, number 8964 in Lecture Notes in Computer Science, pages 334–346. Springer, 2015.

1.   R. Sepulchre, D. Paley, and N. Leonard. Collective motion and oscillator synchronization. In V. Kumar, N. Leonard, and A. S. Morse, editors, Cooperative Control: A Post-Workshop Volume of the 2003 Block Island Workshop on Cooperative Control, number 309 in Lecture Notes in Control and Information Sciences, pages 189–228. Springer-Verlag, 2005.

Journal articles (since 2010)

44.   F. D. Lagor, K. Ide, and D. A. Paley. Incorporating prior knowledge in observability-based path planning for ocean sampling. Submitted.

43.   A. Chicoli and D. A. Paley. Probabilistic information transmission in a network of coupled oscillators reveals speed-accuracy trade-off in responding to threats. Submitted.

42.   D. Shishika, J. K. Yim, and D. A. Paley. Robust Lyapunov control design for bio-inspired pursuit with autonomous hovercraft. To appear in IEEE Transactions on Control Systems Technology.

41.   C. G. Hooi, F. D. Lagor, and D. A. Paley. Height estimation and control of rotorcraft in ground effect using spatially distributed pressure sensing. To appear in J. American Helicopter Society.

40.   D. Yeo, N. Sydney, D. A. Paley, and D. Sofge. Onboard flow sensing for downwash avoidance with a small quadrotor helicopter. To appear in AIAA J. Guidance, Control, and Dynamics.

39.   F. Zhang, F. D. Lagor, H. Lei, X. Tan, and D. A. Paley. Robotic Fish: Flow-relative control behaviors using distributed flow sensing. Mechanical Engineering, 138(3):S2–S5, March 2016. Special issue on bio-inspired systems.

38.   D. A. Paley, C. Majidi, E. Tytell, and N. Wereley. Bioinspired Soft Robotics: Preface to the Special Issue. Bioinspiration & Biomimetics, 10(6), 2016. Special issue on bioinspired soft robotics.

37.   N. Sydney, D. A. Paley, and D. Sofge. Physics-inspired motion coordination for information-theoretic target detection using multiple aerial robots. Autonomous Robots, pages 1–11, 2015. DOI: 10.1007/s10514-015-9542-0.

36.   A. Chicoli, J. Bak-Coleman, S. Coombs, and D. A. Paley. Rheotaxis performance increases with group size in a coupled phase model with sensory noise. European Physical J. Special Topics, 224(17):3233–3244, 2015. Special issue on dynamics of animal systems.

35.   F. Zhang, F. D. Lagor, D. Yeo, P. Washington, and D. A. Paley. Distributed flow sensing for closed-loop control speed control of a flexible fish robot. Bioinspiration & Biomimetics, 10(6), 2015. Special Issue on bioinspired soft robotics.

34.   L. DeVries and D. A. Paley. Wake sensing and estimation for relative-position control of autonomous aircraft in formation flight. AIAA J. Guidance, Control, and Dynamics, 39(1):32–41, 2015.

33.   L. DeVries, F. D. Lagor, H. Lei, X. Tan, and D. A. Paley. Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line. Bioinspiration & Biomimetics, 10(2):1–15, 2015. Special Issue on hybrid and multi-modal locomotion.

32.   T. Severson and D. A. Paley. Distributed multi-target search and track assignment with consensus-based coordination. IEEE Sensors J., 15(2):864–875, 2014.

31.   T. Severson and D. A. Paley. Optimal sensor coordination for multi-target search and track assignment. IEEE Trans. Aerospace and Electronic Systems, 50(3):2313–2320, 2014.

30.   D. Shishika, N. C. Manoukis, S. Butail, and D. A. Paley. Male motion coordination in anopheline mating swarms. Nature Scientific Reports, 4(6318):1–7, 2014.

29.   A. Chicoli, S. Butail, J. Lun, J. Bak-Coleman, S. Coombs, and D. A. Paley. The effects of flow on schooling Devario aequipinnatus: school structure, startle response and information transmission. J. Fish Biology, 84(5):1401–1421, 2014.

28.   N. C. Manoukis, S. Butail, M. Diallo, J. M. Ribeiro, and D. A. Paley. Stereoscopic video analysis of Anopheles gambiae behavior in the field: Challenges and opportunities. Acta Tropica, 132(1):1–6, 2014.

27.   N. Sydney and D. A. Paley. Multivehicle coverage control for nonstationary spatiotemporal fields. Automatica, 50(5):1381–1390, 2014.

26.   F. D. Lagor, L. DeVries, K. Waychoff, and D. A. Paley. Bio-inspired flow sensing and control: Autonomous rheotaxis using distributed pressure measurements. J. Unmanned System Technology, 1(3):78–88, 2013.

25.   J. Bak-Coleman, A. Court, D. A. Paley, and S. Coombs. The spatiotemporal dynamics of rheotactic behavior depends on flow speed and available sensory information. J. Exp. Biology, 216:4011–4024, 2013.

24.   S. Butail, N. Manoukis, M. Diallo, J. M. Ribeiro, and D. A. Paley. The dance of male Anopheles gambiae in wild mating swarms. J. Medical Entomology, 50(3):552–559, 2013.

23.   C. Peterson and D. A. Paley. Distributed estimation for motion coordination in an unknown spatially varying flowfield. AIAA J. Guidance, Control, and Dynamics, 36(3):894–898, 2013.

22.   S. Napora and D. A. Paley. Observer-based feedback control for stabilization of collective motion. IEEE Trans. Control Systems Technology, 21(5):1846–1857, 2013.

21.   S. Sherman, D. A. Paley, and N. M. Wereley. Parallel simulation of transient magnetorheological direct shear flows using millions of particles. IEEE Trans. Magnetics, 48(11):3517–3520, 2012.

20.   L. DeVries, S. J. Majumdar, and D. A. Paley. Observability-based optimization of coordinated sampling trajectories for recursive estimation of a strong, spatially varying flowfield. J. Intelligent and Robotic Systems, 67(3-4):527–544, 2012.

19.   S. Butail, N. Manoukis, M. Diallo, J. M. Ribeiro, T. Lehmann, and D. A. Paley. Reconstructing the flight kinematics of swarming and mating in wild mosquitoes. J. Royal Society Interface, 9(75):2624–2638, 2012.

18.   L. DeVries and D. A. Paley. Multivehicle control in a strong flowfield with application to hurricane sampling. AIAA J. Guidance, Control, and Dynamics, 35(3):794–806, 2012.

17.   S. Butail and D. A. Paley. Three-dimensional reconstruction of the fast-start swimming kinematics of densely schooling fish. J. Royal Society Interface, 9(66):77–88, 2012.

16.   R. Mellish, S. Napora, and D. A. Paley. Backstepping control design for motion coordination of self-propelled vehicles in a flowfield. Int. J. Robust and Nonlinear Control, 21(12):1452–1466, 2011.

15.   C. Peterson and D. A. Paley. Multivehicle coordination in an estimated time-varying flowfield. AIAA J. Guidance, Control, and Dynamics, 34(1):177–191, 2011.

14.   S. Hernandez and D. A. Paley. Three-dimensional motion coordination in a spatiotemporal flowfield. IEEE Trans. Automatic Control, 55(12):2805–2810, 2010.

13.   L. Techy, D. A. Paley, and C. A. Woolsey. Unmanned aerial vehicle coordination on closed convex paths in wind. AIAA J. Guidance, Control, and Dynamics, 33(6):1946–1951, 2010.

12.   N. E. Leonard, D. A. Paley, R. E. Davis, D. M. Fratantoni, F. Lekien, and F. Zhang. Coordinated control of an underwater glider fleet: An adaptive ocean sampling field experiment in Monterey Bay. J. Field Robotics, 27(6):718–740, 2010.

Conference papers (since 2010)

60.   D. Shishika and D. A. Paley. Mosquito-inspired swarming for decentralized pursuit with autonomous aerial robots. Submitted.

59.   N. Lauer, D. Yeo, and D. A. Paley. Tip-vortex localization for cross-stream position control of a multi-hole probe relative to a stationary wing in a gree-jet wind tunnel. Submitted.

58.   D. Yeo and D. A. Paley. The AUSS FIREfly: A distributed sensing and coordination platform for first-year engineering education. Submitted.

57.   W. Craig, D. Yeo, and D. A. Paley. Dynamics of a Rotor-Pendulum With a Small, Stiff Propeller in Wind. To appear in Proc. DSCC2016.

56.   F. Zhang, P. Washington, and D. A. Paley. A flexible, reaction-wheel-driven fish robot: Flow sensing and flow-relative control. In Proc. American Control Conf., pages 1221–1226, Boston, Massachusetts, July 2016.

55.   F. D. Lagor, A. Davis, K. Ide, and D. A. Paley. Non-Gaussian estimation of a two-vortex flow using a Lagrangian sensor guided by output feedback control. In Proc. American Control Conf., pages 1030–1035, Boston, Massachusetts, July 2016.

54.   B. Barkley and D. A. Paley. Cooperative Bayesian target detection on a real road network using aerial vehicles. In Proc. Int. Conf. Unmanned Aircraft Systems, Arlington, Virginia, June 2016.

53.   H. Lei, M. A. Sharif, D. A. Paley, M. J. McHenry, and X. Tan. Performance improvement of IPMC flow sensors with a biologically inspired cupula structure. In Y. Bar-Cohen, editor, Electroactive Polymer Actuators and Devices (EAPAD) XVIII, volume 9798 of Proc. SPIE, page 979873, 2016.

52.   D. Yeo, N. Sydney, and D. A. Paley. Onboard flow sensing for rotary-wing UAV pitch control in wind. In Proc. AIAA Guidance, Navigation and Control Conf., number AIAA 2016-1386, San Diego, California, 2016.

51.   D. Shishika and D. A. Paley. Lyapunov stability analysis of a mosquito-inspired swarm model. In Proc. 54th IEEE Conf. Decision and Control, pages 482–488, Osaka, Japan, December 2015.

50.   F. D. Lagor, K. Ide, and D. A. Paley. Touring invariant-set boundaries of a two-vortex system using streamline control. In Proc. 54th IEEE Conf. Decision and Control, pages 2217–2222, Osaka, Japan, December 2015.

49.   F. Zhang, F. D. Lagor, D. Yeo, P. Washington, and D. A. Paley. Distributed flow sensing using Bayesian estimation for a flexible fish robot. In Proc. ASME Dynamic Systems and Control Conf., number DSCC2015-9732, pages 1–10, Columbus, Ohio, October 2015.

48.   D. Shishika, J. K. Yim, and D. A. Paley. Bio-inspired pursuit with autonomous hovercraft using Lyapunov-based control. In Proc. American Control Conf., pages 3107–3113, Chicago, Illinios, July 2015.

47.   C. G. Hooi, F. D. Lagor, and D. A. Paley. Flow sensing for height estimation and control of a rotor in ground effect: Modeling and experimental results. In Proc. American Helicopter Society Forum 71, Virginia Beach, Virginia, 5–7 May 2015.

46.   C. G. Hooi, F. D. Lagor, and D. A. Paley. Flow sensing, estimation and feedback control for rotorcraft landing in ground effect. In Proc. IEEE Aerospace Conference, pages 1–8, Big Sky, Montana, March 2015.

45.   D. Yeo, N. Sydney, D. A. Paley, and D. Sofge. Onboard flow sensing for downwash detection and avoidance with a small quadrotor helicopter. In Proc. AIAA Guidance, Navigation and Control Conf., number AIAA 2015-1769, pages 1–11, Orlando, Florida, January 2015.

44.   D. Yeo, E. Shrestha, D. A. Paley, and E. Atkins. Experimental development of a rotorcraft UAV downwash model for real-time disturbance localization and avoidance. In Proc. AIAA Atmospheric Flight Mechanics Conf., number AIAA 2015-1685, pages 1–14, Orlando, Florida, January 2015.

43.   N. Sydney, B. Smyth, and D. A. Paley. Dynamic control of autonomous quadrotor flight in an estimated wind field. In Proc. IEEE Conf. Decision and Control, pages 3609–3616, Florence, Italy, December 2013.

42.   T. Severson and D. A. Paley. Distributed multi-target search and track assignment using consensus-based coordination. In Proc. IEEE SENSORS, number 7504, pages 1474–1477, Baltimore, Maryland, November 2013.

41.   L. DeVries and D. A. Paley. Wake estimation and dynamic control for autonomous aircraft in formation flight. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2013-4705, Boston, Massachusetts, August 2013.

40.   F. D. Lagor, L. DeVries, K. Waychoff, and D. A. Paley. Bio-inspired flow sensing and control for autonomous underwater navigation using distributed pressure measurements. In Proc. 18th Int. Symp. Unmanned Untethered Submersible Tech., Portsmouth, New Hampshire, August 2013.

39.   L. DeVries and D. A. Paley. Observability-based optimization for flow sensing and control of an underwater vehicle in a uniform flowfield. In Proc. American Control Conf., pages 1388–1393, Washington, District of Columbia, June 2013. Invited session on “Vehicle control and estimation in the undersea environment”.

38.   N. Sydney and D. A. Paley. Optimal sampling of nonstationary spatiotemporal fields using a mobile sensory network. In Proc. 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, California, September 2012.

37.   L. DeVries and D. A. Paley. Dynamic altitude control for motion coordination in an estimated shear flow. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2012-4696, Minneapolis, Minnesota, August 2012.

36.   L. DeVries, S. Majumdar, and D. A. Paley. Observability-based optimization of coordinated sampling trajectories for flowfield estimation. In Proc. Int. Conf. Unmanned Aircraft Systems, Philadelphia, Pennsylvania, June 2012.

35.   T. Severson and D. A. Paley. Distributed optimization for radar mission coordination. In Proc. American Control Conf., pages 5102–5107, Montreal, Canada, June 2012.

34.   S. Butail, A. Chicoli, and D. A. Paley. Putting the fish in the fish tank: Immersive VR for animal behavior experiments. In Proc. Int. Conf. Robotics and Automation, pages 5018–5023, Saint Paul, Minnesota, May 2012.

33.   R. Mellish and D. A. Paley. Motion coordination of planar rigid bodies. In Proc. IEEE Conf. Decision and Control, pages 4897–4902, Orlando, Florida, December 2011.

32.   N. Sydney and D. A. Paley. Multi-vehicle control and optimization for spatiotemporal sampling. In Proc. IEEE Conf. Decision and Control, pages 5607–5612, Orlando, Florida, December 2011. Invited session on “Consensus algorithms, cooperative control, and distributed optimization”.

31.   S. Butail, N. C. Manoukis, D. Moussa, A. S. Yaro, A. Dao, C. Traoré, J. Ribeiro, T. Lehmann, and D. A. Paley. 3D tracking of mating events in wild swarms of the malaria mosquito Anopheles gambiae. In Proc. 33rd Int. Conf. IEEE Engineering in Medicine and Biology Society, pages 720–723, Boston, Massachusetts, August 2011.

30.   S. Sherman, D. A. Paley, and N. Wereley. Massively parallel simulations of chain formation and restructuring dynamics in a magnetorheological fluid. In Proc. ASME Conf. Smart Materials, Adaptive Structures and Intelligent Systems, number SMASIS2011-5188, Scottsdale, Arizona, September 2011.

29.   C. Peterson and D. A. Paley. Distributed estimation for motion coordination in an unknown spatiotemporal flowfield. In Proc. AIAA Guidance, Navigation, and Control Conf., number AIAA-2011-6481, Portland, Oregon, August 2011.

28.   L. DeVries and D. A. Paley. Multi-vehicle control in a strong flowfield with application to hurricane sampling. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2011-6478, Portland, Oregon, August 2011.

27.   S. Napora and D. A. Paley. Observer-based feedback control for stabilization of collective motion. In Proc. American Control Conf., pages 3996–4001, San Francisco, California, June 2011.

26.   N. Mahmoudian and D. A. Paley. Synchronization on the N-torus with noisy measurements. In Proc. American Control Conf., pages 4014–4019, San Francisco, California, June 2011.

25.   N. Sydney, S. Napora, and D. A. Paley. A multi-vehicle testbed for underwater motion coordination. In Proc. Performance Metrics for Intelligent Systems Workshop, Invited paper, Baltimore, Maryland, September 2010.

24.   R. Mellish and D. A. Paley. Backstepping control design for motion coordination of self-propelled vehicles. In Proc. IEEE Conf. Decision and Control, pages 5468–5473, Atlanta, Georgia, December 2010.

23.   C. Peterson and D. A. Paley. Multi-vehicle coordination of autonomous vehicles in an unknown flowfield. In Proc. AIAA Conf. Guidance, Navigation, and Control, number AIAA-2010-7585, Toronto, Canada, August 2010.

22.   D. A. Paley and A. K. Baharani. Critical damping in a kinetic interaction network. In Proc. American Control Conf., pages 4628–4633, Baltimore, Maryland, July 2010.

21.   S. Butail and D. A. Paley. 3D reconstruction of fish schooling kinematics from underwater video. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2438–2443, Anchorage, Alaska, May 2010.

Lab Members

Current undergraduate students

1.
Patrick Washington (AE 2017)
2.
Bernadine Passe (AE, 2017)
3.
Michael Kreinar (AE 2017)
4.
Skylar Quelland (AE 2017)
5.
Simran Chawla (ECE 2018)
6.
David Snyder (AE 2018)
7.
Katarina Sherman (AE 2018)
8.
Mukund Patnaik (AE 2019)

Current graduate students, postdocs, and staff

1.
Brett Barkley (AE MS)
2.
Will Craig (AE PhD)
3.
Brian Free (AE PhD)
4.
Debdipta Goswama (ECE PhD)
5.
Vishakha Goyal (ENPM Robotics)
6.
Frank Lagor (AE PhD)
7.
Jinseong Lee (AE PhD)
8.
Helene Nguewou (ECE PhD)
9.
Daigo Shishika (AE PhD)
10.
Derrick Yeo (AE postdoc)

Former graduate students and postdocs

    12.    Feitian Zhang (AE postdoc 2015–2016; faculty George Mason University)
    11.    Amanda Chicoli (NACS PhD 2016) dissertation
    10.    Nitin Sydney (AE PhD 2015) dissertation
    9.    Chin Gian Hooi (AE MS 2015) thesis
    8.    Levi DeVries (AE PhD 2014; faculty U.S. Naval Academy) dissertation
    7.    Tracie Severson (AE PhD 2013; faculty U.S. Naval Academy) dissertation
    6.    Sachit Butail (AE PhD 2012; faculty Northern Illinois University) dissertation
    5.    Cammy Peterson (AE PhD 2012) dissertation
    4.    Nina Mahmoudian (AE postdoc 2011; faculty Michigan Tech)
    3.    Seth Napora (AE MS 2011) thesis
    2.    Rochelle Mellish (AE MS 2011) thesis
    1.    Sonia Hernandez (AE MS 2009) thesis

CDCL Cooperative-Control Experimental Record Holders (N = number of vehicles)

1.
William Ouyang (BS) N = 7, ground
2.
Daigo Shishika (PhD) N = 5, rotary-wing air
3.
Seth Napora (MS) N = 4, underwater
4.
Cammy Peterson (PhD) N = 2, fixed-wing air

Last updated July 28, 2016